Hierarchical framework for direct gradient-based time-to-contact estimation
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Horn_Hierarchical-framework.pdf
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Author(s)
Masaki, Ichiro
Fang, Yajun
Horn, Berthold Klaus Paul
Date Issued
July 2009
Journal
2009 IEEE Intelligent Vehicles Symposium
Publisher
Institute of Electrical and Electronics Engineers
Citation
Horn, B.K.P., Yajun Fang, and I. Masaki. “Hierarchical framework for direct gradient-based time-to-contact estimation.” Intelligent Vehicles Symposium, 2009 IEEE. 2009. 1394-1400. © 2009 IEEE
Version
Final published version
Abstract
he time-to-contact (TTC) estimation is a simple and convenient way to detect approaching objects, potential danger, and to analyze surrounding environment. TTC can be estimated directly from single camera though neither distance nor speed information can be estimated with single cameras. Traditional TTC estimation depends on ldquointeresting feature pointsrdquo or object boundaries, which is noisy and time consuming. In, we propose a direct ldquogradient-basedrdquo method to compute time-to-contact in three special cases that avoid feature points/lines and can take advantages of all related pixels for better computation. In this follow-up paper, we discuss the method to deal with the most general cases and propose a hierarchical fusion framework for direct gradient-based time-to-contact estimation. The new method enhances accuracy, robustness and is computationally efficient, which is important to provide fast response for vehicle applications.
MIT Department
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
Massachusetts Institute of Technology. Microsystems Technology Laboratories
Massachusetts Institute of Technology. Intelligent Transportation Systems Laboratory
Terms of Use
Article is made available in accordance with the publisher's policy and may be subject to US copyright law. Please refer to the publisher's site for terms of use.
Persistent DSpace Link
DOI of Published Version
http://dx.doi.org/10.1109/IVS.2009.5164489
